A Study on the Gait Generation of a Humanoid Robot Using Genetic Algorithm

초록

This paper presents the optimal gait generation of a humanoid robot using genetic algorithm. A humanoid robot has some problems of the structural instability basically. So, we have to consider the stable walking gait in gait planning. Besides, it is important to make a smooth and optimal gait for saving the electric power. A mobile robot has battery to move autonomously. But a humanoid robot needs more electric power in order to operate many joints. So, if movements of walking joint don’t maintain optimally, it is difficult for a robot to have working time for a long time, and if a gait trajectory doesn’t have optimal state, the expected life span of joints is decreased. To solve these problems, genetic algorithm is employed to guarantee the optimal gait trajectory. The fitness functions in a genetic algorithm are introduced to find out optimal trajectory, which enables the robot to have the less reduced jerk of joints and get smooth movement. With these all process accomplished by PC-based program, we could find the optimal solution from the simulation. Keywords: humanoid robot, genetic algorithm, optimal walking, gait generation